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within Modelica;
package Blocks "Library of basic input/output control blocks (continuous, discrete, logical, table blocks)"
extends Modelica.Icons.Package;
import Modelica.Units.SI;
package Examples
"Library of examples to demonstrate the usage of package Blocks"
extends Modelica.Icons.ExamplesPackage;
model PID_Controller
"Demonstrates the usage of a Continuous.LimPID controller"
extends Modelica.Icons.Example;
parameter SI.Angle driveAngle=1.570796326794897
"Reference distance to move";
Modelica.Blocks.Continuous.LimPID PI(
k=100,
Ti=0.1,
yMax=12,
Ni=0.1,
initType=Modelica.Blocks.Types.Init.SteadyState,
controllerType=Modelica.Blocks.Types.SimpleController.PI,
limiter(u(start = 0)),
Td=0.1) annotation (Placement(transformation(extent={{-56,-20},{-36,0}})));
Modelica.Mechanics.Rotational.Components.Inertia inertia1(
phi(fixed=true, start=0),
J=1,
a(fixed=true, start=0)) annotation (Placement(transformation(extent={{2,-20},
{22,0}})));
Modelica.Mechanics.Rotational.Sources.Torque torque annotation (Placement(
transformation(extent={{-25,-20},{-5,0}})));
Modelica.Mechanics.Rotational.Components.SpringDamper spring(
c=1e4,
d=100,
stateSelect=StateSelect.prefer,
w_rel(fixed=true)) annotation (Placement(transformation(extent={{32,-20},
{52,0}})));
Modelica.Mechanics.Rotational.Components.Inertia inertia2(J=2) annotation (
Placement(transformation(extent={{60,-20},{80,0}})));
Modelica.Blocks.Sources.KinematicPTP kinematicPTP(
startTime=0.5,
deltaq={driveAngle},
qd_max={1},
qdd_max={1}) annotation (Placement(transformation(extent={{-92,20},{-72,
40}})));
Modelica.Blocks.Continuous.Integrator integrator(initType=Modelica.Blocks.Types.Init.InitialState)
annotation (Placement(transformation(extent={{-63,20},{-43,40}})));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor annotation (
Placement(transformation(extent={{22,-50},{2,-30}})));
Modelica.Mechanics.Rotational.Sources.ConstantTorque loadTorque(
tau_constant=10, useSupport=false) annotation (Placement(transformation(
extent={{98,-15},{88,-5}})));
initial equation
der(spring.w_rel) = 0;
equation
connect(spring.flange_b, inertia2.flange_a)
annotation (Line(points={{52,-10},{60,-10}}));
connect(inertia1.flange_b, spring.flange_a)
annotation (Line(points={{22,-10},{32,-10}}));
connect(torque.flange, inertia1.flange_a)
annotation (Line(points={{-5,-10},{2,-10}}));
connect(kinematicPTP.y[1], integrator.u)
annotation (Line(points={{-71,30},{-65,30}}, color={0,0,127}));
connect(speedSensor.flange, inertia1.flange_b)
annotation (Line(points={{22,-40},{22,-10}}));
connect(loadTorque.flange, inertia2.flange_b)
annotation (Line(points={{88,-10},{80,-10}}));
connect(PI.y, torque.tau)
annotation (Line(points={{-35,-10},{-27,-10}}, color={0,0,127}));
connect(speedSensor.w, PI.u_m)
annotation (Line(points={{1,-40},{-46,-40},{-46,-22}}, color={0,0,127}));
connect(integrator.y, PI.u_s) annotation (Line(points={{-42,30},{-37,30},{-37,
11},{-67,11},{-67,-10},{-58,-10}}, color={0,0,127}));
annotation (
Diagram(coordinateSystem(
preserveAspectRatio=true,
extent={{-100,-100},{100,100}}), graphics={
Rectangle(extent={{-99,48},{-32,8}}, lineColor={255,0,0}),
Text(
extent={{-98,59},{-31,51}},
textColor={255,0,0},
textString="reference speed generation"),
Text(
extent={{-98,-46},{-60,-52}},
textColor={255,0,0},
textString="PI controller"),
Line(
points={{-76,-44},{-57,-23}},
color={255,0,0},
arrow={Arrow.None,Arrow.Filled}),
Rectangle(extent={{-25,6},{99,-50}}, lineColor={255,0,0}),
Text(
extent={{4,14},{71,7}},
textColor={255,0,0},
textString="plant (simple drive train)")}),
experiment(StopTime=4),
Documentation(info="<html>
<p>
This is a simple drive train controlled by a PID controller:
</p>
<ul>
<li> The two blocks \"kinematic_PTP\" and \"integrator\" are used to generate
the reference speed (= constant acceleration phase, constant speed phase,
constant deceleration phase until inertia is at rest). To check
whether the system starts in steady state, the reference speed is
zero until time = 0.5 s and then follows the sketched trajectory.</li>
<li> The block \"PI\" is an instance of \"Blocks.Continuous.LimPID\" which is
a PID controller where several practical important aspects, such as
anti-windup-compensation has been added. In this case, the control block
is used as PI controller.</li>
<li> The output of the controller is a torque that drives a motor inertia
\"inertia1\". Via a compliant spring/damper component, the load
inertia \"inertia2\" is attached. A constant external torque of 10 Nm
is acting on the load inertia.</li>
</ul>
<p>
The PI controller is initialized in steady state (initType=SteadyState)
and the drive shall also be initialized in steady state.
However, it is not possible to initialize \"inertia1\" in SteadyState, because
\"der(inertia1.phi)=inertia1.w=0\" is an input to the PI controller that
defines that the derivative of the integrator state is zero (= the same
condition that was already defined by option SteadyState of the PI controller).
Furthermore, one initial condition is missing, because the absolute position
of inertia1 or inertia2 is not defined. The solution shown in this examples is
to initialize the angle and the angular acceleration of \"inertia1\".
</p>
<p>
In the following figure, results of a typical simulation are shown:
</p>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Examples/PID_controller.png\"
alt=\"PID_controller.png\"><br>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Examples/PID_controller2.png\"
alt=\"PID_controller2.png\">
<p>
In the upper figure the reference speed (= integrator.y) and
the actual speed (= inertia1.w) are shown. As can be seen,
the system initializes in steady state, since no transients
are present. The inertia follows the reference speed quite good
until the end of the constant speed phase. Then there is a deviation.
In the lower figure the reason can be seen: The output of the
controller (PI.y) is in its limits. The anti-windup compensation
works reasonably, since the input to the limiter (PI.limiter.u)
is forced back to its limit after a transient phase.
</p>
</html>"));
end PID_Controller;
model Filter "Demonstrates the Continuous.Filter block with various options"
extends Modelica.Icons.Example;
parameter Integer order=3 "Number of order of filter";
parameter SI.Frequency f_cut=2 "Cut-off frequency";
parameter Modelica.Blocks.Types.FilterType filterType=Modelica.Blocks.Types.FilterType.LowPass
"Type of filter (LowPass/HighPass)";
parameter Modelica.Blocks.Types.Init init=Modelica.Blocks.Types.Init.SteadyState
"Type of initialization (no init/steady state/initial state/initial output)";
parameter Boolean normalized=true "= true, if amplitude at f_cut = -3db, otherwise unmodified filter";
Modelica.Blocks.Sources.Step step(startTime=0.1, offset=0.1)
annotation (Placement(transformation(extent={{-60,40},{-40,60}})));
Modelica.Blocks.Continuous.Filter CriticalDamping(
analogFilter=Modelica.Blocks.Types.AnalogFilter.CriticalDamping,
normalized=normalized,
init=init,
filterType=filterType,
order=order,
f_cut=f_cut,
f_min=0.8*f_cut)
annotation (Placement(transformation(extent={{-20,40},{0,60}})));
Modelica.Blocks.Continuous.Filter Bessel(
normalized=normalized,
analogFilter=Modelica.Blocks.Types.AnalogFilter.Bessel,
init=init,
filterType=filterType,
order=order,
f_cut=f_cut,
f_min=0.8*f_cut)
annotation (Placement(transformation(extent={{-20,0},{0,20}})));
Modelica.Blocks.Continuous.Filter Butterworth(
normalized=normalized,
analogFilter=Modelica.Blocks.Types.AnalogFilter.Butterworth,
init=init,
filterType=filterType,
order=order,
f_cut=f_cut,
f_min=0.8*f_cut)
annotation (Placement(transformation(extent={{-20,-40},{0,-20}})));
Modelica.Blocks.Continuous.Filter ChebyshevI(
normalized=normalized,
analogFilter=Modelica.Blocks.Types.AnalogFilter.ChebyshevI,
init=init,
filterType=filterType,
order=order,
f_cut=f_cut,
f_min=0.8*f_cut)
annotation (Placement(transformation(extent={{-20,-80},{0,-60}})));
equation
connect(step.y, CriticalDamping.u) annotation (Line(
points={{-39,50},{-22,50}}, color={0,0,127}));
connect(step.y, Bessel.u) annotation (Line(
points={{-39,50},{-32,50},{-32,10},{-22,10}}, color={0,0,127}));
connect(Butterworth.u, step.y) annotation (Line(
points={{-22,-30},{-32,-30},{-32,50},{-39,50}}, color={0,0,127}));
connect(ChebyshevI.u, step.y) annotation (Line(
points={{-22,-70},{-32,-70},{-32,50},{-39,50}}, color={0,0,127}));
annotation (
experiment(StopTime=0.9),
Documentation(info="<html>
<p>
This example demonstrates various options of the
<a href=\"modelica://Modelica.Blocks.Continuous.Filter\">Filter</a> block.
A step input starts at 0.1 s with an offset of 0.1, in order to demonstrate
the initialization options. This step input drives 4 filter blocks that
have identical parameters, with the only exception of the used analog filter type
(CriticalDamping, Bessel, Butterworth, Chebyshev of type I). All the main options
can be set via parameters and are then applied to all the 4 filters.
The default setting uses low pass filters of order 3 with a cut-off frequency of
2 Hz resulting in the following outputs:
</p>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Examples/Filter1.png\"
alt=\"Filter1.png\">
</html>"));
end Filter;
model FilterWithDifferentiation
"Demonstrates the use of low pass filters to determine derivatives of filters"
extends Modelica.Icons.Example;
parameter SI.Frequency f_cut=2 "Cut-off frequency";
Modelica.Blocks.Sources.Step step(startTime=0.1, offset=0.1)
annotation (Placement(transformation(extent={{-80,40},{-60,60}})));
Modelica.Blocks.Continuous.Filter Bessel(
f_cut=f_cut,
filterType=Modelica.Blocks.Types.FilterType.LowPass,
order=3,
analogFilter=Modelica.Blocks.Types.AnalogFilter.Bessel)
annotation (Placement(transformation(extent={{-40,40},{-20,60}})));
Continuous.Der der1
annotation (Placement(transformation(extent={{-6,40},{14,60}})));
Continuous.Der der2
annotation (Placement(transformation(extent={{30,40},{50,60}})));
Continuous.Der der3
annotation (Placement(transformation(extent={{62,40},{82,60}})));
equation
connect(step.y, Bessel.u) annotation (Line(
points={{-59,50},{-42,50}}, color={0,0,127}));
connect(Bessel.y, der1.u) annotation (Line(
points={{-19,50},{-8,50}}, color={0,0,127}));
connect(der1.y, der2.u) annotation (Line(
points={{15,50},{28,50}}, color={0,0,127}));
connect(der2.y, der3.u) annotation (Line(
points={{51,50},{60,50}}, color={0,0,127}));
annotation (
experiment(StopTime=0.9),
Documentation(info="<html>
<p>
This example demonstrates that the output of the
<a href=\"modelica://Modelica.Blocks.Continuous.Filter\">Filter</a> block
can be differentiated up to the order of the filter. This feature can be
used in order to make an inverse model realizable or to \"smooth\" a potential
discontinuous control signal.
</p>
</html>"));
end FilterWithDifferentiation;
model FilterWithRiseTime
"Demonstrates to use the rise time instead of the cut-off frequency to define a filter"
import Modelica.Constants.pi;
extends Modelica.Icons.Example;
parameter Integer order=2 "Filter order";
parameter SI.Time riseTime=2 "Time to reach the step input";
Continuous.Filter filter_fac5(f_cut=5/(2*pi*riseTime), order=order)
annotation (Placement(transformation(extent={{-20,-20},{0,0}})));
Sources.Step step(startTime=1)
annotation (Placement(transformation(extent={{-60,20},{-40,40}})));
Continuous.Filter filter_fac4(f_cut=4/(2*pi*riseTime), order=order)
annotation (Placement(transformation(extent={{-20,20},{0,40}})));
Continuous.Filter filter_fac3(f_cut=3/(2*pi*riseTime), order=order)
annotation (Placement(transformation(extent={{-20,62},{0,82}})));
equation
connect(step.y, filter_fac5.u) annotation (Line(
points={{-39,30},{-30,30},{-30,-10},{-22,-10}}, color={0,0,127}));
connect(step.y, filter_fac4.u) annotation (Line(
points={{-39,30},{-22,30}}, color={0,0,127}));
connect(step.y, filter_fac3.u) annotation (Line(
points={{-39,30},{-30,30},{-30,72},{-22,72}}, color={0,0,127}));
annotation (experiment(StopTime=4), Documentation(info="<html>
<p>
Filters are usually parameterized with the cut-off frequency.
Sometimes, it is more meaningful to parameterize a filter with its
rise time, i.e., the time it needs until the output reaches the end value
of a step input. This is performed with the formula:
</p>
<blockquote><pre>
f_cut = fac/(2*pi*riseTime);
</pre></blockquote>
<p>
where \"fac\" is typically 3, 4, or 5. The following image shows
the results of a simulation of this example model
(riseTime = 2 s, fac=3, 4, and 5):
</p>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Examples/FilterWithRiseTime.png\"
alt=\"FilterWithRiseTime.png\">
<p>
Since the step starts at 1 s, and the rise time is 2 s, the filter output y
shall reach the value of 1 after 1+2=3 s. Depending on the factor \"fac\" this is
reached with different precisions. This is summarized in the following table:
</p>
<blockquote><table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">
<tr>
<td>Filter order</td>
<td>Factor fac</td>
<td>Percentage of step value reached after rise time</td>
</tr>
<tr>
<td align=\"center\">1</td>
<td align=\"center\">3</td>
<td align=\"center\">95.1 %</td>
</tr>
<tr>
<td align=\"center\">1</td>
<td align=\"center\">4</td>
<td align=\"center\">98.2 %</td>
</tr>
<tr>
<td align=\"center\">1</td>
<td align=\"center\">5</td>
<td align=\"center\">99.3 %</td>
</tr>
<tr>
<td align=\"center\">2</td>
<td align=\"center\">3</td>
<td align=\"center\">94.7 %</td>
</tr>
<tr>
<td align=\"center\">2</td>
<td align=\"center\">4</td>
<td align=\"center\">98.6 %</td>
</tr>
<tr>
<td align=\"center\">2</td>
<td align=\"center\">5</td>
<td align=\"center\">99.6 %</td>
</tr>
</table></blockquote>
</html>"));
end FilterWithRiseTime;
model SlewRateLimiter
"Demonstrate usage of Nonlinear.SlewRateLimiter"
extends Modelica.Icons.Example;
parameter SI.Velocity vMax=2 "Max. velocity";
parameter SI.Acceleration aMax=20 "Max. acceleration";
SI.Position s=positionStep.y "Reference position";
SI.Position sSmoothed=positionSmoothed.y "Smoothed position";
SI.Velocity vLimited=limit_a.y "Limited velocity";
SI.Acceleration aLimited=a.y "Limited acceleration";
Modelica.Blocks.Sources.Step positionStep(startTime=0.1)
annotation (Placement(transformation(extent={{-80,-10},{-60,10}})));
Modelica.Blocks.Nonlinear.SlewRateLimiter limit_v(
initType=Modelica.Blocks.Types.Init.InitialOutput,
Rising=vMax,
y_start=positionStep.offset,
Td=0.0001)
annotation (Placement(transformation(extent={{-50,-10},{-30,10}})));
Modelica.Blocks.Continuous.Der v
annotation (Placement(transformation(extent={{-20,-10},{0,10}})));
Modelica.Blocks.Nonlinear.SlewRateLimiter limit_a(
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=0,
Rising=20,
Td=0.0001)
annotation (Placement(transformation(extent={{10,-10},{30,10}})));
Modelica.Blocks.Continuous.Integrator positionSmoothed(
k=1,
initType=Modelica.Blocks.Types.Init.InitialOutput,
y_start=positionStep.offset)
annotation (Placement(transformation(extent={{50,-10},{70,10}})));
Modelica.Blocks.Continuous.Der a
annotation (Placement(transformation(extent={{50,-40},{70,-20}})));
equation
connect(positionStep.y, limit_v.u)
annotation (Line(points={{-59,0},{-52,0}}, color={0,0,127}));
connect(limit_v.y, v.u)
annotation (Line(points={{-29,0},{-22,0}}, color={0,0,127}));
connect(v.y, limit_a.u)
annotation (Line(points={{1,0},{8,0}}, color={0,0,127}));
connect(limit_a.y, positionSmoothed.u)
annotation (Line(points={{31,0},{39.5,0},{48,0}}, color={0,0,127}));
connect(limit_a.y, a.u) annotation (Line(points={{31,0},{40,0},{40,-30},{48,-30}},
color={0,0,127}));
annotation (experiment(StopTime=1.0, Interval=0.001), Documentation(info="<html>
<p>
This example demonstrates how to use the Nonlinear.SlewRateLimiter block to limit a position step with regards to velocity and acceleration:
</p>
<ul>
<li> The Sources.Step block <code>positionStep</code> demands an unphysical position step.</li>
<li> The first SlewRateLimiter block <code>limit_v</code> limits velocity.</li>
<li> The first Der block <code>v</code> calculates velocity from the smoothed position signal.</li>
<li> The second SlewRateLimiter block <code>limit_a</code> limits acceleration of the smoothed velocity signal.</li>
<li> The second Der block <code>a</code> calculates acceleration from the smoothed velocity signal.</li>
<li> The Integrator block <code>positionSmoothed</code> calculates smoothed position from the smoothed velocity signal.</li>
</ul>
<p>
A position controlled drive with limited velocity and limited acceleration (i.e. torque) is able to follow the smoothed reference position.
</p>
</html>"));
end SlewRateLimiter;
model InverseModel "Demonstrates the construction of an inverse model"
extends Modelica.Icons.Example;
Continuous.FirstOrder firstOrder1(
k=1,
T=0.3,
initType=Modelica.Blocks.Types.Init.SteadyState)
annotation (Placement(transformation(extent={{20,20},{0,40}})));
Sources.Sine sine(
f=2,
offset=1,
startTime=0.2)
annotation (Placement(transformation(extent={{-80,20},{-60,40}})));
Math.InverseBlockConstraints inverseBlockConstraints
annotation (Placement(transformation(extent={{-10,20},{30,40}})));
Continuous.FirstOrder firstOrder2(
k=1,
T=0.3,
initType=Modelica.Blocks.Types.Init.SteadyState)
annotation (Placement(transformation(extent={{20,-20},{0,0}})));
Math.Feedback feedback
annotation (Placement(transformation(extent={{-40,0},{-60,-20}})));
Continuous.CriticalDamping criticalDamping(n=1, f=50*sine.f)
annotation (Placement(transformation(extent={{-40,20},{-20,40}})));
equation
connect(firstOrder1.y, inverseBlockConstraints.u2) annotation (Line(
points={{-1,30},{-6,30}}, color={0,0,127}));
connect(inverseBlockConstraints.y2, firstOrder1.u) annotation (Line(
points={{27,30},{22,30}}, color={0,0,127}));
connect(firstOrder2.y, feedback.u1) annotation (Line(
points={{-1,-10},{-42,-10}}, color={0,0,127}));
connect(sine.y, criticalDamping.u) annotation (Line(
points={{-59,30},{-42,30}}, color={0,0,127}));
connect(criticalDamping.y, inverseBlockConstraints.u1) annotation (Line(
points={{-19,30},{-12,30}}, color={0,0,127}));
connect(sine.y, feedback.u2) annotation (Line(
points={{-59,30},{-50,30},{-50,-2}}, color={0,0,127}));
connect(inverseBlockConstraints.y1, firstOrder2.u) annotation (Line(
points={{31,30},{40,30},{40,-10},{22,-10}}, color={0,0,127}));
annotation (Documentation(info="<html>
<p>
This example demonstrates how to construct an inverse model in Modelica
(for more details see <a href=\"https://www.modelica.org/events/Conference2005/online_proceedings/Session3/Session3c3.pdf\">Looye, Thümmel, Kurze, Otter, Bals: Nonlinear Inverse Models for Control</a>).
</p>
<p>
For a linear, single input, single output system
</p>
<blockquote><pre>
y = n(s)/d(s) * u // plant model
</pre></blockquote>
<p>
the inverse model is derived by simply exchanging the numerator and
the denominator polynomial:
</p>
<blockquote><pre>
u = d(s)/n(s) * y // inverse plant model
</pre></blockquote>
<p>
If the denominator polynomial d(s) has a higher degree as the
numerator polynomial n(s) (which is usually the case for plant models),
then the inverse model is no longer proper, i.e., it is not causal.
To avoid this, an approximate inverse model is constructed by adding
a sufficient number of poles to the denominator of the inverse model.
This can be interpreted as filtering the desired output signal y:
</p>
<blockquote><pre>
u = d(s)/(n(s)*f(s)) * y // inverse plant model with filtered y
</pre></blockquote>
<p>
With Modelica it is in principal possible to construct inverse models not only
for linear but also for non-linear models and in particular for every
Modelica model. The basic construction mechanism is explained at hand
of this example:
</p>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Examples/InverseModelSchematic.png\"
alt=\"InverseModelSchematic.png\">
<p>
Here the first order block \"firstOrder1\" shall be inverted. This is performed
by connecting its inputs and outputs with an instance of block
Modelica.Blocks.Math.<strong>InverseBlockConstraints</strong>. By this connection,
the inputs and outputs are exchanged. The goal is to compute the input of the
\"firstOrder1\" block so that its output follows a given sine signal.
For this, the sine signal \"sin\" is first filtered with a \"CriticalDamping\"
filter of order 1 and then the output of this filter is connected to the output
of the \"firstOrder1\" block (via the InverseBlockConstraints block, since
2 outputs cannot be connected directly together in a block diagram).
</p>
<p>
In order to check the inversion, the computed input of \"firstOrder1\" is used
as input in an identical block \"firstOrder2\". The output of \"firstOrder2\" should
be the given \"sine\" function. The difference is constructed with the \"feedback\"
block. Since the \"sine\" function is filtered, one cannot expect that this difference
is zero. The higher the cut-off frequency of the filter, the closer is the
agreement. A typical simulation result is shown in the next figure:
</p>
<img src=\"modelica://Modelica/Resources/Images/Blocks/Examples/InverseModel.png\"
alt=\"InverseModel.png\">
</html>"), experiment(StopTime=1.0));
end InverseModel;
model ShowLogicalSources
"Demonstrates the usage of logical sources together with their diagram animation"
extends Modelica.Icons.Example;
Sources.BooleanTable table(table={2,4,6,8}) annotation (Placement(
transformation(extent={{-60,-100},{-40,-80}})));
Sources.BooleanConstant const annotation (Placement(transformation(extent={
{-60,60},{-40,80}})));
Sources.BooleanStep step(startTime=4) annotation (Placement(transformation(
extent={{-60,20},{-40,40}})));
Sources.BooleanPulse pulse(period=1.5) annotation (Placement(transformation(
extent={{-60,-20},{-40,0}})));
Sources.SampleTrigger sample(period=0.5) annotation (Placement(
transformation(extent={{-60,-60},{-40,-40}})));
Sources.BooleanExpression booleanExpression(y=pulse.y and step.y)
annotation (Placement(transformation(extent={{20,20},{80,40}})));
annotation (experiment(StopTime=10), Documentation(info="<html>
<p>
This simple example demonstrates the logical sources in
<a href=\"modelica://Modelica.Blocks.Sources\">Modelica.Blocks.Sources</a> and demonstrate
their diagram animation (see \"small circle\" close to the output connector).
The \"booleanExpression\" source shows how a logical expression can be defined
in its parameter menu referring to variables available on this level of the
model.
</p>
</html>"));
end ShowLogicalSources;
model LogicalNetwork1 "Demonstrates the usage of logical blocks"
extends Modelica.Icons.Example;
Sources.BooleanTable table2(table={1,3,5,7}) annotation (Placement(
transformation(extent={{-80,-20},{-60,0}})));
Sources.BooleanTable table1(table={2,4,6,8}) annotation (Placement(
transformation(extent={{-80,20},{-60,40}})));
Logical.Not Not1 annotation (Placement(transformation(extent={{-40,-20},{-20,
0}})));
Logical.And And1 annotation (Placement(transformation(extent={{0,-20},{20,0}})));
Logical.Or Or1 annotation (Placement(transformation(extent={{40,20},{60,40}})));
Logical.Pre Pre1 annotation (Placement(transformation(extent={{-40,-60},{-20,
-40}})));
equation
connect(table2.y, Not1.u)
annotation (Line(points={{-59,-10},{-42,-10}}, color={255,0,255}));
connect(And1.y, Or1.u2) annotation (Line(points={{21,-10},{28,-10},{28,22},
{38,22}}, color={255,0,255}));
connect(table1.y, Or1.u1)
annotation (Line(points={{-59,30},{38,30}}, color={255,0,255}));
connect(Not1.y, And1.u1)
annotation (Line(points={{-19,-10},{-2,-10}}, color={255,0,255}));
connect(Pre1.y, And1.u2) annotation (Line(points={{-19,-50},{-10,-50},{-10,
-18},{-2,-18}}, color={255,0,255}));
connect(Or1.y, Pre1.u) annotation (Line(points={{61,30},{68,30},{68,-70},{-60,
-70},{-60,-50},{-42,-50}}, color={255,0,255}));
annotation (experiment(StopTime=10), Documentation(info="<html>
<p>
This example demonstrates a network of logical blocks. Note, that
the Boolean values of the input and output signals are visualized
in the diagram animation, by the small \"circles\" close to the connectors.
If a \"circle\" is \"white\", the signal is <strong>false</strong>. It a
\"circle\" is \"green\", the signal is <strong>true</strong>.
</p>
</html>"));
end LogicalNetwork1;
model RealNetwork1 "Demonstrates the usage of blocks from Modelica.Blocks.Math"
extends Modelica.Icons.Example;
Modelica.Blocks.Math.MultiSum add(nu=2)
annotation (Placement(transformation(extent={{-14,64},{-2,76}})));
Sources.Sine sine(amplitude=3, f=0.1)
annotation (Placement(transformation(extent={{-96,60},{-76,80}})));
Sources.Step integerStep(height=3, startTime=2)
annotation (Placement(transformation(extent={{-60,30},{-40,50}})));
Sources.Constant integerConstant(k=1)
annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
Modelica.Blocks.Interaction.Show.RealValue showValue
annotation (Placement(transformation(extent={{66,60},{86,80}})));
Math.MultiProduct product(nu=2)
annotation (Placement(transformation(extent={{6,24},{18,36}})));
Modelica.Blocks.Interaction.Show.RealValue showValue1(significantDigits=2)
annotation (Placement(transformation(extent={{64,20},{84,40}})));
Sources.BooleanPulse booleanPulse1(period=1)
annotation (Placement(transformation(extent={{-12,-30},{8,-10}})));
Math.MultiSwitch multiSwitch(
nu=2,
expr={4,6},
y_default=2)
annotation (Placement(transformation(extent={{28,-60},{68,-40}})));
Sources.BooleanPulse booleanPulse2(period=2, width=80)
annotation (Placement(transformation(extent={{-12,-70},{8,-50}})));
Modelica.Blocks.Interaction.Show.RealValue showValue3(
use_numberPort=false,
number=multiSwitch.y,
significantDigits=1)
annotation (Placement(transformation(extent={{40,-84},{60,-64}})));
Math.LinearDependency linearDependency1(
y0=1,
k1=2,
k2=3) annotation (Placement(transformation(extent={{40,80},{60,100}})));
Math.MinMax minMax(nu=2)
annotation (Placement(transformation(extent={{58,-16},{78,4}})));
equation
connect(booleanPulse1.y, multiSwitch.u[1]) annotation (Line(
points={{9,-20},{18,-20},{18,-48},{28,-48},{28,-48.5}}, color={255,0,255}));
connect(booleanPulse2.y, multiSwitch.u[2]) annotation (Line(
points={{9,-60},{18,-60},{18,-52},{28,-52},{28,-51.5}}, color={255,0,255}));
connect(sine.y, add.u[1]) annotation (Line(
points={{-75,70},{-46.5,70},{-46.5,72.1},{-14,72.1}}, color={0,0,127}));
connect(integerStep.y, add.u[2]) annotation (Line(
points={{-39,40},{-28,40},{-28,67.9},{-14,67.9}}, color={0,0,127}));
connect(add.y, showValue.numberPort) annotation (Line(
points={{-0.98,70},{64.5,70}}, color={0,0,127}));
connect(integerStep.y, product.u[1]) annotation (Line(
points={{-39,40},{-20,40},{-20,32.1},{6,32.1}}, color={0,0,127}));
connect(integerConstant.y, product.u[2]) annotation (Line(
points={{-39,0},{-20,0},{-20,27.9},{6,27.9}}, color={0,0,127}));
connect(product.y, showValue1.numberPort) annotation (Line(
points={{19.02,30},{62.5,30}}, color={0,0,127}));
connect(add.y, linearDependency1.u1) annotation (Line(
points={{-0.98,70},{20,70},{20,96},{38,96}}, color={0,0,127}));
connect(product.y, linearDependency1.u2) annotation (Line(
points={{19.02,30},{30,30},{30,84},{38,84}}, color={0,0,127}));
connect(add.y, minMax.u[1]) annotation (Line(
points={{-0.98,70},{48,70},{48,-2.5},{58,-2.5}}, color={0,0,127}));
connect(product.y, minMax.u[2]) annotation (Line(
points={{19.02,30},{40,30},{40,-9.5},{58,-9.5}}, color={0,0,127}));
annotation (
experiment(StopTime=10),
Documentation(info="<html>
<p>
This example demonstrates a network of mathematical Real blocks.
from package <a href=\"modelica://Modelica.Blocks.Math\">Modelica.Blocks.Math</a>.
Note, that
</p>
<ul>
<li> at the right side of the model, several Math.ShowValue blocks
are present, that visualize the actual value of the respective Real
signal in a diagram animation.</li>
<li> the Boolean values of the input and output signals are visualized
in the diagram animation, by the small \"circles\" close to the connectors.
If a \"circle\" is \"white\", the signal is <strong>false</strong>. If a
\"circle\" is \"green\", the signal is <strong>true</strong>.</li>
</ul>
</html>"));
end RealNetwork1;
model IntegerNetwork1
"Demonstrates the usage of blocks from Modelica.Blocks.MathInteger"
extends Modelica.Icons.Example;
MathInteger.Sum sum(nu=3)
annotation (Placement(transformation(extent={{-14,64},{-2,76}})));
Sources.Sine sine(amplitude=3, f=0.1)
annotation (Placement(transformation(extent={{-100,60},{-80,80}})));
Math.RealToInteger realToInteger
annotation (Placement(transformation(extent={{-60,60},{-40,80}})));
Sources.IntegerStep integerStep(height=3, startTime=2)
annotation (Placement(transformation(extent={{-60,30},{-40,50}})));
Sources.IntegerConstant integerConstant(k=1)
annotation (Placement(transformation(extent={{-60,-10},{-40,10}})));
Modelica.Blocks.Interaction.Show.IntegerValue showValue
annotation (Placement(transformation(extent={{40,60},{60,80}})));
MathInteger.Product product(nu=2)
annotation (Placement(transformation(extent={{16,24},{28,36}})));
Modelica.Blocks.Interaction.Show.IntegerValue showValue1
annotation (Placement(transformation(extent={{40,20},{60,40}})));
MathInteger.TriggeredAdd triggeredAdd(use_reset=false, use_set=false)
annotation (Placement(transformation(extent={{16,-6},{28,6}})));
Sources.BooleanPulse booleanPulse1(period=1)
annotation (Placement(transformation(extent={{-12,-30},{8,-10}})));
Modelica.Blocks.Interaction.Show.IntegerValue showValue2
annotation (Placement(transformation(extent={{40,-10},{60,10}})));
MathInteger.MultiSwitch multiSwitch1(
nu=2,
expr={4,6},
y_default=2,
use_pre_as_default=false)
annotation (Placement(transformation(extent={{28,-60},{68,-40}})));
Sources.BooleanPulse booleanPulse2(period=2, width=80)
annotation (Placement(transformation(extent={{-12,-70},{8,-50}})));
Modelica.Blocks.Interaction.Show.IntegerValue showValue3(use_numberPort=
false, number=multiSwitch1.y)
annotation (Placement(transformation(extent={{40,-84},{60,-64}})));
equation
connect(sine.y, realToInteger.u) annotation (Line(
points={{-79,70},{-62,70}}, color={0,0,127}));
connect(realToInteger.y, sum.u[1]) annotation (Line(
points={{-39,70},{-32,70},{-32,72},{-14,72},{-14,72.8}}, color={255,127,0}));
connect(integerStep.y, sum.u[2]) annotation (Line(
points={{-39,40},{-28,40},{-28,70},{-14,70}}, color={255,127,0}));
connect(integerConstant.y, sum.u[3]) annotation (Line(
points={{-39,0},{-22,0},{-22,67.2},{-14,67.2}}, color={255,127,0}));
connect(sum.y, showValue.numberPort) annotation (Line(
points={{-1.1,70},{38.5,70}}, color={255,127,0}));
connect(sum.y, product.u[1]) annotation (Line(
points={{-1.1,70},{4,70},{4,32.1},{16,32.1}}, color={255,127,0}));
connect(integerStep.y, product.u[2]) annotation (Line(
points={{-39,40},{-8,40},{-8,27.9},{16,27.9}}, color={255,127,0}));
connect(product.y, showValue1.numberPort) annotation (Line(
points={{28.9,30},{38.5,30}}, color={255,127,0}));
connect(integerConstant.y, triggeredAdd.u) annotation (Line(
points={{-39,0},{13.6,0}}, color={255,127,0}));
connect(booleanPulse1.y, triggeredAdd.trigger) annotation (Line(
points={{9,-20},{18.4,-20},{18.4,-7.2}}, color={255,0,255}));
connect(triggeredAdd.y, showValue2.numberPort) annotation (Line(
points={{29.2,0},{38.5,0}}, color={255,127,0}));
connect(booleanPulse1.y, multiSwitch1.u[1]) annotation (Line(
points={{9,-20},{18,-20},{18,-48},{28,-48},{28,-48.5}}, color={255,0,255}));
connect(booleanPulse2.y, multiSwitch1.u[2]) annotation (Line(
points={{9,-60},{18,-60},{18,-52},{28,-52},{28,-51.5}}, color={255,0,255}));
annotation (experiment(StopTime=10), Documentation(info="<html>
<p>
This example demonstrates a network of Integer blocks.
from package <a href=\"modelica://Modelica.Blocks.MathInteger\">Modelica.Blocks.MathInteger</a>.
Note, that
</p>
<ul>
<li> at the right side of the model, several MathInteger.ShowValue blocks
are present, that visualize the actual value of the respective Integer
signal in a diagram animation.</li>
<li> the Boolean values of the input and output signals are visualized
in the diagram animation, by the small \"circles\" close to the connectors.
If a \"circle\" is \"white\", the signal is <strong>false</strong>. If a
\"circle\" is \"green\", the signal is <strong>true</strong>.</li>
</ul>
</html>"));
end IntegerNetwork1;
model BooleanNetwork1
"Demonstrates the usage of blocks from Modelica.Blocks.MathBoolean"
extends Modelica.Icons.Example;
Modelica.Blocks.Interaction.Show.BooleanValue showValue
annotation (Placement(transformation(extent={{-36,74},{-16,94}})));
MathBoolean.And and1(nu=3)
annotation (Placement(transformation(extent={{-58,64},{-46,76}})));
Sources.BooleanPulse booleanPulse1(width=20, period=1)
annotation (Placement(transformation(extent={{-100,60},{-80,80}})));
Sources.BooleanPulse booleanPulse2(period=1, width=80)
annotation (Placement(transformation(extent={{-100,-4},{-80,16}})));
Sources.BooleanStep booleanStep(startTime=1.5)
annotation (Placement(transformation(extent={{-100,28},{-80,48}})));
MathBoolean.Or or1(nu=2)
annotation (Placement(transformation(extent={{-28,62},{-16,74}})));
MathBoolean.Xor xor1(nu=2)
annotation (Placement(transformation(extent={{-2,60},{10,72}})));
Modelica.Blocks.Interaction.Show.BooleanValue showValue2
annotation (Placement(transformation(extent={{-2,74},{18,94}})));
Modelica.Blocks.Interaction.Show.BooleanValue showValue3
annotation (Placement(transformation(extent={{24,56},{44,76}})));
MathBoolean.Nand nand1(nu=2)
annotation (Placement(transformation(extent={{22,40},{34,52}})));
MathBoolean.Nor or2(nu=2)
annotation (Placement(transformation(extent={{46,38},{58,50}})));
Modelica.Blocks.Interaction.Show.BooleanValue showValue4
annotation (Placement(transformation(extent={{90,34},{110,54}})));
MathBoolean.Not nor1
annotation (Placement(transformation(extent={{68,40},{76,48}})));
MathBoolean.OnDelay onDelay(delayTime=1)
annotation (Placement(transformation(extent={{-56,-94},{-48,-86}})));
MathBoolean.RisingEdge rising
annotation (Placement(transformation(extent={{-56,-15},{-48,-7}})));
MathBoolean.MultiSwitch set1(nu=2, expr={false,true})
annotation (Placement(transformation(extent={{-30,-23},{10,-3}})));
MathBoolean.FallingEdge falling
annotation (Placement(transformation(extent={{-56,-32},{-48,-24}})));
Sources.BooleanTable booleanTable(table={2,4,6,6.5,7,9,11})
annotation (Placement(transformation(extent={{-100,-100},{-80,-80}})));
MathBoolean.ChangingEdge changing
annotation (Placement(transformation(extent={{-56,-59},{-48,-51}})));
MathInteger.TriggeredAdd triggeredAdd
annotation (Placement(transformation(extent={{14,-56},{26,-44}})));
Sources.IntegerConstant integerConstant(k=2)
annotation (Placement(transformation(extent={{-20,-60},{0,-40}})));
Modelica.Blocks.Interaction.Show.IntegerValue showValue1
annotation (Placement(transformation(extent={{40,-60},{60,-40}})));
Modelica.Blocks.Interaction.Show.BooleanValue showValue5
annotation (Placement(transformation(extent={{24,-23},{44,-3}})));
Modelica.Blocks.Interaction.Show.BooleanValue showValue6
annotation (Placement(transformation(extent={{-32,-100},{-12,-80}})));
Logical.RSFlipFlop rSFlipFlop
annotation (Placement(transformation(extent={{70,-90},{90,-70}})));
Sources.SampleTrigger sampleTriggerSet(period=0.5, startTime=0)
annotation (Placement(transformation(extent={{40,-76},{54,-62}})));
Sources.SampleTrigger sampleTriggerReset(period=0.5, startTime=0.3)
annotation (Placement(transformation(extent={{40,-98},{54,-84}})));
equation
connect(booleanPulse1.y, and1.u[1]) annotation (Line(
points={{-79,70},{-68,70},{-68,72.8},{-58,72.8}}, color={255,0,255}));
connect(booleanStep.y, and1.u[2]) annotation (Line(
points={{-79,38},{-64,38},{-64,70},{-58,70}}, color={255,0,255}));
connect(booleanPulse2.y, and1.u[3]) annotation (Line(
points={{-79,6},{-62,6},{-62,67.2},{-58,67.2}}, color={255,0,255}));
connect(and1.y, or1.u[1]) annotation (Line(
points={{-45.1,70},{-36.4,70},{-36.4,70.1},{-28,70.1}}, color={255,0,255}));
connect(booleanPulse2.y, or1.u[2]) annotation (Line(
points={{-79,6},{-40,6},{-40,65.9},{-28,65.9}}, color={255,0,255}));
connect(or1.y, xor1.u[1]) annotation (Line(
points={{-15.1,68},{-8,68},{-8,68.1},{-2,68.1}}, color={255,0,255}));
connect(booleanPulse2.y, xor1.u[2]) annotation (Line(
points={{-79,6},{-12,6},{-12,63.9},{-2,63.9}}, color={255,0,255}));
connect(and1.y, showValue.activePort) annotation (Line(
points={{-45.1,70},{-42,70},{-42,84},{-37.5,84}}, color={255,0,255}));
connect(or1.y, showValue2.activePort) annotation (Line(
points={{-15.1,68},{-12,68},{-12,84},{-3.5,84}}, color={255,0,255}));
connect(xor1.y, showValue3.activePort) annotation (Line(
points={{10.9,66},{22.5,66}}, color={255,0,255}));
connect(xor1.y, nand1.u[1]) annotation (Line(
points={{10.9,66},{16,66},{16,48.1},{22,48.1}}, color={255,0,255}));
connect(booleanPulse2.y, nand1.u[2]) annotation (Line(
points={{-79,6},{16,6},{16,44},{22,44},{22,43.9}}, color={255,0,255}));
connect(nand1.y, or2.u[1]) annotation (Line(
points={{34.9,46},{46,46},{46,46.1}}, color={255,0,255}));
connect(booleanPulse2.y, or2.u[2]) annotation (Line(
points={{-79,6},{42,6},{42,41.9},{46,41.9}}, color={255,0,255}));
connect(or2.y, nor1.u) annotation (Line(
points={{58.9,44},{66.4,44}}, color={255,0,255}));
connect(nor1.y, showValue4.activePort) annotation (Line(
points={{76.8,44},{88.5,44}}, color={255,0,255}));
connect(booleanPulse2.y, rising.u) annotation (Line(
points={{-79,6},{-62,6},{-62,-11},{-57.6,-11}}, color={255,0,255}));
connect(rising.y, set1.u[1]) annotation (Line(
points={{-47.2,-11},{-38.6,-11},{-38.6,-11.5},{-30,-11.5}}, color={255,0,255}));
connect(falling.y, set1.u[2]) annotation (Line(
points={{-47.2,-28},{-40,-28},{-40,-14.5},{-30,-14.5}}, color={255,0,255}));
connect(booleanPulse2.y, falling.u) annotation (Line(
points={{-79,6},{-62,6},{-62,-28},{-57.6,-28}}, color={255,0,255}));
connect(booleanTable.y, onDelay.u) annotation (Line(
points={{-79,-90},{-57.6,-90}}, color={255,0,255}));
connect(booleanPulse2.y, changing.u) annotation (Line(
points={{-79,6},{-62,6},{-62,-55},{-57.6,-55}}, color={255,0,255}));
connect(integerConstant.y, triggeredAdd.u) annotation (Line(
points={{1,-50},{11.6,-50}}, color={255,127,0}));
connect(changing.y, triggeredAdd.trigger) annotation (Line(
points={{-47.2,-55},{-30,-55},{-30,-74},{16.4,-74},{16.4,-57.2}}, color={255,0,255}));
connect(triggeredAdd.y, showValue1.numberPort) annotation (Line(
points={{27.2,-50},{38.5,-50}}, color={255,127,0}));
connect(set1.y, showValue5.activePort) annotation (Line(
points={{11,-13},{22.5,-13}}, color={255,0,255}));
connect(onDelay.y, showValue6.activePort) annotation (Line(
points={{-47.2,-90},{-33.5,-90}}, color={255,0,255}));
connect(sampleTriggerSet.y, rSFlipFlop.S) annotation (Line(
points={{54.7,-69},{60,-69},{60,-74},{68,-74}}, color={255,0,255}));
connect(sampleTriggerReset.y, rSFlipFlop.R) annotation (Line(
points={{54.7,-91},{60,-91},{60,-86},{68,-86}}, color={255,0,255}));
annotation (experiment(StopTime=10), Documentation(info="<html>
<p>
This example demonstrates a network of Boolean blocks
from package <a href=\"modelica://Modelica.Blocks.MathBoolean\">Modelica.Blocks.MathBoolean</a>.
Note, that
</p>
<ul>
<li> at the right side of the model, several MathBoolean.ShowValue blocks
are present, that visualize the actual value of the respective Boolean
signal in a diagram animation (\"green\" means \"true\").</li>
<li> the Boolean values of the input and output signals are visualized
in the diagram animation, by the small \"circles\" close to the connectors.
If a \"circle\" is \"white\", the signal is <strong>false</strong>. If a
\"circle\" is \"green\", the signal is <strong>true</strong>.</li>
</ul>
</html>"));
end BooleanNetwork1;
model Interaction1
"Demonstrates the usage of blocks from Modelica.Blocks.Interaction.Show"
extends Modelica.Icons.Example;
Interaction.Show.IntegerValue integerValue
annotation (Placement(transformation(extent={{-40,20},{-20,40}})));
Sources.IntegerTable integerTable(table=[0, 0; 1, 2; 2, 4; 3, 6; 4, 4; 6, 2])
annotation (Placement(transformation(extent={{-80,20},{-60,40}})));
Sources.TimeTable timeTable(table=[0, 0; 1, 2.1; 2, 4.2; 3, 6.3; 4, 4.2; 6,
2.1; 6, 2.1])
annotation (Placement(transformation(extent={{-80,60},{-60,80}})));
Interaction.Show.RealValue realValue
annotation (Placement(transformation(extent={{-40,60},{-20,80}})));
Sources.BooleanTable booleanTable(table={1,2,3,4,5,6,7,8,9})
annotation (Placement(transformation(extent={{-80,-20},{-60,0}})));
Interaction.Show.BooleanValue booleanValue
annotation (Placement(transformation(extent={{-40,-20},{-20,0}})));
Sources.RadioButtonSource start(buttonTimeTable={1,3}, reset={stop.on})
annotation (Placement(transformation(extent={{24,64},{36,76}})));
Sources.RadioButtonSource stop(buttonTimeTable={2,4}, reset={start.on})
annotation (Placement(transformation(extent={{48,64},{60,76}})));
equation
connect(integerTable.y, integerValue.numberPort) annotation (Line(
points={{-59,30},{-41.5,30}}, color={255,127,0}));
connect(timeTable.y, realValue.numberPort) annotation (Line(
points={{-59,70},{-41.5,70}}, color={0,0,127}));
connect(booleanTable.y, booleanValue.activePort) annotation (Line(
points={{-59,-10},{-41.5,-10}}, color={255,0,255}));
annotation (experiment(StopTime=10), Documentation(info="<html>
<p>
This example demonstrates a network of blocks
from package <a href=\"modelica://Modelica.Blocks.Interaction\">Modelica.Blocks.Interaction</a>
to show how diagram animations can be constructed.
</p>
</html>"));
end Interaction1;
model BusUsage "Demonstrates the usage of a signal bus"
extends Modelica.Icons.Example;
public
Modelica.Blocks.Sources.IntegerStep integerStep(
height=1,
offset=2,
startTime=0.5) annotation (Placement(transformation(extent={{-60,-40},{-40,
-20}})));
Modelica.Blocks.Sources.BooleanStep booleanStep(startTime=0.5) annotation (
Placement(transformation(extent={{-58,0},{-38,20}})));
Modelica.Blocks.Sources.Sine sine(f=1) annotation (Placement(
transformation(extent={{-60,40},{-40,60}})));
Modelica.Blocks.Examples.BusUsage_Utilities.Part part annotation (Placement(
transformation(extent={{-60,-80},{-40,-60}})));
Modelica.Blocks.Math.Gain gain(k=1) annotation (Placement(transformation(
extent={{-40,70},{-60,90}})));
protected
BusUsage_Utilities.Interfaces.ControlBus controlBus annotation (Placement(
transformation(
origin={30,10},
extent={{-20,20},{20,-20}},
rotation=90)));
equation
connect(sine.y, controlBus.realSignal1) annotation (Line(
points={{-39,50},{12,50},{12,14},{30,14},{30,10}}, color={0,0,127}));
connect(booleanStep.y, controlBus.booleanSignal) annotation (Line(
points={{-37,10},{30,10}}, color={255,0,255}));
connect(integerStep.y, controlBus.integerSignal) annotation (Line(
points={{-39,-30},{0,-30},{0,6},{32,6},{32,10},{30,10}}, color={255,127,0}));